南京信息工程大学学报2026，Vol.18Issue(3)：372-382,11.DOI:10.13878/j.cnki.jnuist.20250724001
融合VO和DWA的无人潜航器三维空间避障研究
3D obstacle avoidance for unmanned underwater vehicles by fusing VO and DWA
摘要
Abstract
To address the low efficiency of existing Unmanned Underwater Vehicles(UUVs)in autonomous obsta-cle avoidance within complex marine environments,this paper proposes a three-dimensional(3D)obstacle avoid-ance algorithm that integrates the Velocity Obstacle(VO)method and the Dynamic Window Approach(DWA).First,a collision cone and a polar coordinate system are introduced,and a corresponding collision detection method is developed.This extends both the VO and DWA methods,originally designed for two-dimensional space,into three dimensions.Second,by defining the range of a detection sphere around the UUV,obstacles entering this region are classified as dynamic or static.Collision detection is then performed using the collision cone and polar coordinate motion models,respectively,to generate a set of feasible trajectories.Finally,an evaluation function selects the opti-mal path from these candidates.This process iterates in real time to enable efficient obstacle avoidance.Three-di-mensional simulation experiments demonstrate that the UUV using this fusion algorithm successfully avoids all colli-sions.In a fully dynamic obstacle scenario,the proposed method reduces the trajectory length by 5.78％compared to the pure VO method and shortens the task completion time by 16.91％compared to the pure DWA method,while also requiring less computational runtime.The proposed algorithm offers valuable insights for enhancing the autono-mous obstacle avoidance capability of UUVs in complex underwater environments.关键词
无人潜航器/动态窗口法/速度障碍法/三维空间避障算法Key words
unmanned underwater vehicle(UUV)/dynamic window approach(DWA)/velocity obstacle(VO)/3D obstacle avoidance algorithm分类
交通工程引用本文复制引用
吴穹,巩在武,张永垂..融合VO和DWA的无人潜航器三维空间避障研究[J].南京信息工程大学学报,2026,18(3):372-382,11.基金项目
国家自然科学基金(72371137) （72371137）
